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<a href="#pub-types">Public Types</a> &#124;
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<p>provide memory workspace for computing the Jacobians  
 <a href="classg2o_1_1_jacobian_workspace.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="jacobian__workspace_8h_source.html">jacobian_workspace.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:aee9d767fa1208772a3de83732646e182"><td class="memItemLeft" align="right" valign="top">typedef std::vector&lt; Eigen::VectorXd, Eigen::aligned_allocator&lt; Eigen::VectorXd &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">WorkspaceVector</a></td></tr>
<tr class="separator:aee9d767fa1208772a3de83732646e182"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public Member Functions</h2></td></tr>
<tr class="memitem:a8e1d23ced91b721fdb5bd68c8c4e9fc3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#a8e1d23ced91b721fdb5bd68c8c4e9fc3">allocate</a> ()</td></tr>
<tr class="memdesc:a8e1d23ced91b721fdb5bd68c8c4e9fc3"><td class="mdescLeft">&#160;</td><td class="mdescRight">allocate the workspace  <a href="#a8e1d23ced91b721fdb5bd68c8c4e9fc3">More...</a><br /></td></tr>
<tr class="separator:a8e1d23ced91b721fdb5bd68c8c4e9fc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c20de27401a40e620ee065c80d24b9e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#a6c20de27401a40e620ee065c80d24b9e">JacobianWorkspace</a> ()</td></tr>
<tr class="separator:a6c20de27401a40e620ee065c80d24b9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d16ad6db1a51aa93c806cc9c06e223f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#a2d16ad6db1a51aa93c806cc9c06e223f">updateSize</a> (const <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a> *e)</td></tr>
<tr class="memdesc:a2d16ad6db1a51aa93c806cc9c06e223f"><td class="mdescLeft">&#160;</td><td class="mdescRight">update the maximum required workspace needed by taking into account this edge  <a href="#a2d16ad6db1a51aa93c806cc9c06e223f">More...</a><br /></td></tr>
<tr class="separator:a2d16ad6db1a51aa93c806cc9c06e223f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3d715bd25e196d8db81661ef0fbd09b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#ae3d715bd25e196d8db81661ef0fbd09b">updateSize</a> (const <a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> &amp;graph)</td></tr>
<tr class="memdesc:ae3d715bd25e196d8db81661ef0fbd09b"><td class="mdescLeft">&#160;</td><td class="mdescRight">update the required workspace by looking at a full graph  <a href="#ae3d715bd25e196d8db81661ef0fbd09b">More...</a><br /></td></tr>
<tr class="separator:ae3d715bd25e196d8db81661ef0fbd09b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa15a007fee3037116ea0e857855080d2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#aa15a007fee3037116ea0e857855080d2">updateSize</a> (int numVertices, int dimension)</td></tr>
<tr class="memdesc:aa15a007fee3037116ea0e857855080d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">manually update with the given parameters  <a href="#aa15a007fee3037116ea0e857855080d2">More...</a><br /></td></tr>
<tr class="separator:aa15a007fee3037116ea0e857855080d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad68c37d7779d3a034bc1b864cd98690b"><td class="memItemLeft" align="right" valign="top">double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#ad68c37d7779d3a034bc1b864cd98690b">workspaceForVertex</a> (int vertexIndex)</td></tr>
<tr class="memdesc:ad68c37d7779d3a034bc1b864cd98690b"><td class="mdescLeft">&#160;</td><td class="mdescRight">return the workspace for a vertex in an edge  <a href="#ad68c37d7779d3a034bc1b864cd98690b">More...</a><br /></td></tr>
<tr class="separator:ad68c37d7779d3a034bc1b864cd98690b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0d00e42f6e048268ff5005b8e3f578dd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#a0d00e42f6e048268ff5005b8e3f578dd">~JacobianWorkspace</a> ()</td></tr>
<tr class="separator:a0d00e42f6e048268ff5005b8e3f578dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:aa6cd4fb8bc1bb4fe9ada55d9feefc817"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#aa6cd4fb8bc1bb4fe9ada55d9feefc817">_maxDimension</a></td></tr>
<tr class="memdesc:aa6cd4fb8bc1bb4fe9ada55d9feefc817"><td class="mdescLeft">&#160;</td><td class="mdescRight">the maximum dimension (number of elements) for a Jacobian  <a href="#aa6cd4fb8bc1bb4fe9ada55d9feefc817">More...</a><br /></td></tr>
<tr class="separator:aa6cd4fb8bc1bb4fe9ada55d9feefc817"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a640c84c19a739ce3116fc02c3a66b096"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#a640c84c19a739ce3116fc02c3a66b096">_maxNumVertices</a></td></tr>
<tr class="memdesc:a640c84c19a739ce3116fc02c3a66b096"><td class="mdescLeft">&#160;</td><td class="mdescRight">the maximum number of vertices connected by a hyper-edge  <a href="#a640c84c19a739ce3116fc02c3a66b096">More...</a><br /></td></tr>
<tr class="separator:a640c84c19a739ce3116fc02c3a66b096"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7dbaa3a651808e1bf3f876896bd1bfc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">WorkspaceVector</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classg2o_1_1_jacobian_workspace.html#af7dbaa3a651808e1bf3f876896bd1bfc">_workspace</a></td></tr>
<tr class="memdesc:af7dbaa3a651808e1bf3f876896bd1bfc"><td class="mdescLeft">&#160;</td><td class="mdescRight">the memory pre-allocated for computing the Jacobians  <a href="#af7dbaa3a651808e1bf3f876896bd1bfc">More...</a><br /></td></tr>
<tr class="separator:af7dbaa3a651808e1bf3f876896bd1bfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>provide memory workspace for computing the Jacobians </p>
<p>The workspace is used by an <a class="el" href="structg2o_1_1_optimizable_graph.html" title="This is an abstract class that represents one optimization problem. ">OptimizableGraph</a> to provide temporary memory for computing the Jacobian of the error functions. Before calling linearizeOplus on an edge, the workspace needs to be allocated by calling <a class="el" href="classg2o_1_1_jacobian_workspace.html#a8e1d23ced91b721fdb5bd68c8c4e9fc3" title="allocate the workspace ">allocate()</a>. </p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
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          <td class="memname">typedef std::vector&lt;Eigen::VectorXd, Eigen::aligned_allocator&lt;Eigen::VectorXd&gt; &gt; <a class="el" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">g2o::JacobianWorkspace::WorkspaceVector</a></td>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">g2o::JacobianWorkspace::JacobianWorkspace </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">bool g2o::JacobianWorkspace::allocate </td>
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<p>allocate the workspace </p>

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          <td class="memname">void g2o::JacobianWorkspace::updateSize </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a> *&#160;</td>
          <td class="paramname"><em>e</em></td><td>)</td>
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<p>update the maximum required workspace needed by taking into account this edge </p>

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          <td class="memname">void g2o::JacobianWorkspace::updateSize </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structg2o_1_1_optimizable_graph.html">OptimizableGraph</a> &amp;&#160;</td>
          <td class="paramname"><em>graph</em></td><td>)</td>
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<p>update the required workspace by looking at a full graph </p>

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          <td class="memname">void g2o::JacobianWorkspace::updateSize </td>
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          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>numVertices</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">int&#160;</td>
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<p>manually update with the given parameters </p>

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          <td class="memname">double* g2o::JacobianWorkspace::workspaceForVertex </td>
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<p>return the workspace for a vertex in an edge </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<p>the maximum dimension (number of elements) for a Jacobian </p>

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<p>the maximum number of vertices connected by a hyper-edge </p>

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          <td class="memname"><a class="el" href="classg2o_1_1_jacobian_workspace.html#aee9d767fa1208772a3de83732646e182">WorkspaceVector</a> g2o::JacobianWorkspace::_workspace</td>
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<p>the memory pre-allocated for computing the Jacobians </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="jacobian__workspace_8h_source.html">jacobian_workspace.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/<a class="el" href="jacobian__workspace_8cpp.html">jacobian_workspace.cpp</a></li>
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